Part1 - launch gazebo

launch gazebo simple example

#gazebo   #launch   #101  

---

Table of Content

gazebo_ros

Provides ROS plugins that offer message and service publishers for interfacing with Gazebo through ROS.

sudo apt install ros-foxy-gazebo-ros

project

my ros2_gazebo_tutorial

├── CMakeLists.txt
├── launch
│   └── basic_gazebo.launch.py
├── package.xml
└── worlds
    └── empty.world

---

world

empty.world

<?xml version='1.0'?>
<sdf version="1.6">
<world name="room">
  <include>
    <uri>model://sun</uri>
  </include>
  <include>
    <uri>model://ground_plane</uri>
  </include>
</world>
</sdf>

launch

basic_gazebo.launch.py

from launch import LaunchDescription
import os
from ament_index_python.packages import get_package_share_directory
from launch.actions import AppendEnvironmentVariable, DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource

PACKAGE = "ros2_gazebo_tutorial"
WORLD = "empty.world"

def generate_launch_description():
    ld = LaunchDescription()

    pkg = get_package_share_directory(PACKAGE)
    gazebo_pkg = get_package_share_directory('gazebo_ros')

    verbose = LaunchConfiguration("verbose")
    arg_gazebo_verbose = DeclareLaunchArgument("verbose", default_value="true")
    world = LaunchConfiguration("world")
    arg_gazebo_world = DeclareLaunchArgument("world", default_value=WORLD)


    resources = [os.path.join(pkg, "worlds")]

    resource_env = AppendEnvironmentVariable(
        name="GAZEBO_RESOURCE_PATH", value=":".join(resources)
    )

    models = [os.path.join(pkg, "models")]

    models_env = AppendEnvironmentVariable(
        name="GAZEBO_MODEL_PATH", value=":".join(models)
    )

    gazebo = IncludeLaunchDescription(
                PythonLaunchDescriptionSource([os.path.join(
                    gazebo_pkg, 'launch', 'gazebo.launch.py')]),
                    launch_arguments={'verbose': verbose, "world": world}.items()
             )



    ld.add_action(models_env)
    ld.add_action(resource_env)
    ld.add_action(arg_gazebo_verbose)
    ld.add_action(arg_gazebo_world)
    ld.add_action(gazebo)
    return ld

cmake

• Copy launch and world folders

CMakeLists.txt

# Add this line to CMakeLists.txt

install(DIRECTORY
  launch
  worlds
  DESTINATION share/${PROJECT_NAME}/
)